3D Advanced Simulation Approach to Address Energy Consumption Issues of Robot Manipulators - An eRobotics Approach

In order to address energy efficiency issues of robot manipulators, a 3D simulation-driven approach is introduced to accurately capture their energy consumption in challenging scenarios. To this end, we couple maximal coordinates multibody dynamics simulation with torque-based robot control relying upon minimal coordinates. The drive train actuation is taken into account. The simulator is then capable to capture the energetic behaviour of a robot in a large variety of applications. These include industrial manufacturing and on-orbit servicing. The approach provides a comprehensive analysis platform for optimization techniques dealing with energy optimization.